OpenRaiser/Intern-Atlas huggingface dataset:
Visualization Psychology for Eye Tracking Evaluation
Venue: arXiv cs.HC 2023
Year: 2023

Technical progress in hardware and software enables us to record gaze data in everyday situations and over long time spans. Among a multitude of research opportunities, this technology enables visualization researchers to catch a glimpse behind performance measures and into the perceptual and cognitive processes of people using visualization techniques. The majority of eye tracking studies performed for visualization research is limited to the analysis of gaze distributions and aggregated statistics, thus only covering a small portion of insights that can be derived from gaze data. We argue that incorporating theories and methodology from psychology and cognitive science will benefit the design and evaluation of eye tracking experiments for visualization. This book chapter provides an overview of how eye tracking can be used in a variety of study designs. Further, we discuss the potential merits of cognitive models for the evaluation of visualizations. We exemplify these concepts on two scenarios, each focusing on a different eye tracking study. Lastly, we identify several call for actions.
Allocating with Priorities and Quotas: Algorithms, Complexity, and Dynamics
Venue: arXiv cs.GT 2023
Year: 2023

In many applications such as rationing medical care and supplies, university admissions, and the assignment of public housing, the decision of who receives an allocation can be justified by various normative criteria. Such settings have motivated the following priority-respecting allocation problem: several categories, each with a quota of interchangeable items, wish to allocate the items among a set of agents. Each category has a list of eligible agents and a priority ordering over these agents; agents may be eligible in multiple categories. The goal is to select a valid allocation: one that respects quotas, eligibility, and priorities and ensures Pareto efficiency. We provide an algorithmic characterization of all valid allocations, exhibiting a bijection between sets of agents who can be allocated and maximum-weight matchings under carefully chosen rank-based weights. While prior work provides a polynomial-time algorithm to locate a valid allocation, our characterization admits a simpler algorithm that enables two wide-reaching extensions: 1. Selecting valid allocations that satisfy additional criteria: Via three examples -- inclusion/exclusion of some chosen agent; agent-side Pareto efficiency vs. welfare maximization; and fairness from the perspective of allocated vs. unallocated agents -- we show that finding priority-respecting allocations subject to some secondary constraint straddles a complexity knife-edge; in each example, one problem variant can be solved efficiently, while its variant is NP-hard. 2. Efficiency-envy tradeoffs in dynamic allocation: In settings where allocations must be made to T agents arriving sequentially via some stochastic process, we show that while insisting on zero priority violations leads to an Omega(T) loss in efficiency, one can design allocation policies ensuring that the sum of the efficiency loss and priority violations in hindsight is O(1).
FieldFuzz: In Situ Blackbox Fuzzing of Proprietary Industrial Automation Runtimes via the Network
Venue: arXiv cs.CR 2023
Year: 2023

Networked Programmable Logic Controllers (PLCs) are proprietary industrial devices utilized in critical infrastructure that execute control logic applications in complex proprietary runtime environments that provide standardized access to the hardware resources in the PLC. These control applications are programmed in domain-specific IEC 61131-3 languages, compiled into a proprietary binary format, and process data provided via industrial protocols. Control applications present an attack surface threatened by manipulated traffic. For example, remote code injection in a control application would directly allow to take over the PLC, threatening physical process damage and the safety of human operators. However, assessing the security of control applications is challenging due to domain-specific challenges and the limited availability of suitable methods. Network-based fuzzing is often the only way to test such devices but is inefficient without guidance from execution tracing. This work presents the FieldFuzz framework that analyzes the security risks posed by the Codesys runtime (used by over 400 devices from 80 industrial PLC vendors). FieldFuzz leverages efficient network-based fuzzing based on three main contributions: i) reverse-engineering enabled remote control of control applications and runtime components, ii) automated command discovery and status code extraction via network traffic and iii) a monitoring setup to allow on-system tracing and coverage computation. We use FieldFuzz to run fuzzing campaigns, which uncover multiple vulnerabilities, leading to three reported CVE IDs. To study the cross-platform applicability of FieldFuzz, we reproduce the findings on a diverse set of Industrial Control System (ICS) devices, showing a significant improvement over the state-of-the-art.
Guarded Kleene Algebra with Tests: Automata Learning
Venue: arXiv cs.FL 2023
Year: 2023

Guarded Kleene Algebra with Tests (GKAT) is the fragment of Kleene Algebra with Tests (KAT) that arises by replacing the union and iteration operations of KAT with predicate-guarded variants. GKAT is more efficiently decidable than KAT and expressive enough to model simple imperative programs, making it attractive for applications to e.g. network verification. In this paper, we further explore GKAT's automata theory, and present GL*, an algorithm for learning the GKAT automaton representation of a black-box, by observing its behaviour. A complexity analysis shows that it is more efficient to learn a representation of a GKAT program with GL* than with Angluin's existing L* algorithm. We implement GL* and L* in OCaml and compare their performances on example programs.
Community detection in multiplex networks based on orthogonal nonnegative matrix tri-factorization
Venue: arXiv cs.SI 2023
Year: 2023

Networks are commonly used to model complex systems. The different entities in the system are represented by nodes of the network and their interactions by edges. In most real life systems, the different entities may interact in different ways necessitating the use of multiplex networks where multiple links are used to model the interactions. One of the major tools for inferring network topology is community detection. Although there are numerous works on community detection in single-layer networks, existing community detection methods for multiplex networks mostly learn a common community structure across layers and do not take the heterogeneity across layers into account. In this paper, we introduce a new multiplex community detection method that identifies communities that are common across layers as well as those that are unique to each layer. The proposed method, Multiplex Orthogonal Nonnegative Matrix Tri-Factorization, represents the adjacency matrix of each layer as the sum of two low-rank matrix factorizations corresponding to the common and private communities, respectively. Unlike most of the existing methods, which require the number of communities to be pre-determined, the proposed method also introduces a two stage method to determine the number of common and private communities. The proposed algorithm is evaluated on synthetic and real multiplex networks, as well as for multiview clustering applications, and compared to state-of-the-art techniques.
Coordination-free Multi-robot Path Planning for Congestion Reduction Using Topological Reasoning
Venue: arXiv cs.RO 2023
Year: 2023

We consider the problem of multi-robot path planning in a complex, cluttered environment with the aim of reducing overall congestion in the environment, while avoiding any inter-robot communication or coordination. Such limitations may exist due to lack of communication or due to privacy restrictions (for example, autonomous vehicles may not want to share their locations or intents with other vehicles or even to a central server). The key insight that allows us to solve this problem is to stochastically distribute the robots across different routes in the environment by assigning them paths in different topologically distinct classes, so as to lower congestion and the overall travel time for all robots in the environment. We outline the computation of topologically distinct paths in a spatio-temporal configuration space and propose methods for the stochastic assignment of paths to the robots. A fast replanning algorithm and a potential field based controller allow robots to avoid collision with nearby agents while following the assigned path. Our simulation and experiment results show a significant advantage over shortest path following under such a coordination-free setup.
VAE-Loco: Versatile Quadruped Locomotion by Learning a Disentangled Gait Representation
Venue: arXiv cs.RO 2023
Year: 2023

Quadruped locomotion is rapidly maturing to a degree where robots are able to realise highly dynamic manoeuvres. However, current planners are unable to vary key gait parameters of the in-swing feet midair. In this work we address this limitation and show that it is pivotal in increasing controller robustness by learning a latent space capturing the key stance phases constituting a particular gait. This is achieved via a generative model trained on a single trot style, which encourages disentanglement such that application of a drive signal to a single dimension of the latent state induces holistic plans synthesising a continuous variety of trot styles. We demonstrate that specific properties of the drive signal map directly to gait parameters such as cadence, footstep height and full stance duration. Due to the nature of our approach these synthesised gaits are continuously variable online during robot operation. The use of a generative model facilitates the detection and mitigation of disturbances to provide a versatile and robust planning framework. We evaluate our approach on two versions of the real ANYmal quadruped robots and demonstrate that our method achieves a continuous blend of dynamic trot styles whilst being robust and reactive to external perturbations.
Information-Theoretically Private Matrix Multiplication From MDS-Coded Storage
Venue: arXiv cs.IT 2023
Year: 2023

We study two problems of private matrix multiplication, over a distributed computing system consisting of a master node, and multiple servers that collectively store a family of public matrices using Maximum-Distance-Separable (MDS) codes. In the first problem of Private and Secure Matrix Multiplication (PSMM) from colluding servers, the master intends to compute the product of its confidential matrix $\mathbf{A}$ with a target matrix stored on the servers, without revealing any information about $\mathbf{A}$ and the index of target matrix to some colluding servers. In the second problem of Fully Private Matrix Multiplication (FPMM) from colluding servers, the matrix $\mathbf{A}$ is also selected from another family of public matrices stored at the servers in MDS form. In this case, the indices of the two target matrices should both be kept private from colluding servers. We develop novel strategies for the two PSMM and FPMM problems, which simultaneously guarantee information-theoretic data/index privacy and computation correctness. We compare the proposed PSMM strategy with a previous PSMM strategy with a weaker privacy guarantee (non-colluding servers), and demonstrate substantial improvements over the previous strategy in terms of communication and computation overheads. Moreover, compared with a baseline FPMM strategy that uses the idea of Private Information Retrieval (PIR) to directly retrieve the desired matrix multiplication, the proposed FPMM strategy significantly reduces storage overhead, but slightly incurs large communication and computation overheads.
Exploring Proxying QUIC and HTTP/3 for Satellite Communication
Venue: arXiv cs.NI 2023
Year: 2023

Low-Earth Orbit satellites have gained momentum to provide Internet connectivity, augmenting those in the long-established geostationary orbits. At the same time, QUIC has been developed as the new transport protocol for the web. While QUIC traffic is fully encrypted, intermediaries such as performance enhancing proxies (PEPs) - in the past essential for Internet over satellite performance - can no longer tamper with and optimize transport connections. In this paper, we present a satellite emulation testbed and use it to compare QUIC and TCP as well as HTTP/3 and HTTP/1.1 with and without minimal PEP functionality. Evaluating goodput over time, we find that the slow start threshold is reached up to 2s faster for QUIC PEP in comparison to QUIC Non-PEP. Moreover, we find that HTTP/3 and HTTP/3-PEP outperform HTTP/1.1 and HTTP/1.1-PEP in multiple web performance scenarios, where HTTP/3-PEP improves over HTTP/3 for Page Load Time by over 7s in edge cases. Hence, our findings hint that these performance gains may warrant exploring PEPs for QUIC.
Most Activation Functions Can Win the Lottery Without Excessive Depth
Venue: arXiv cs.LG 2023
Year: 2023

The strong lottery ticket hypothesis has highlighted the potential for training deep neural networks by pruning, which has inspired interesting practical and theoretical insights into how neural networks can represent functions. For networks with ReLU activation functions, it has been proven that a target network with depth $L$ can be approximated by the subnetwork of a randomly initialized neural network that has double the target's depth $2L$ and is wider by a logarithmic factor. We show that a depth $L+1$ network is sufficient. This result indicates that we can expect to find lottery tickets at realistic, commonly used depths while only requiring logarithmic overparametrization. Our novel construction approach applies to a large class of activation functions and is not limited to ReLUs.
KenSwQuAD -- A Question Answering Dataset for Swahili Low Resource Language
Venue: arXiv cs.CL 2023
Year: 2023

The need for Question Answering datasets in low resource languages is the motivation of this research, leading to the development of Kencorpus Swahili Question Answering Dataset, KenSwQuAD. This dataset is annotated from raw story texts of Swahili low resource language, which is a predominantly spoken in Eastern African and in other parts of the world. Question Answering (QA) datasets are important for machine comprehension of natural language for tasks such as internet search and dialog systems. Machine learning systems need training data such as the gold standard Question Answering set developed in this research. The research engaged annotators to formulate QA pairs from Swahili texts collected by the Kencorpus project, a Kenyan languages corpus. The project annotated 1,445 texts from the total 2,585 texts with at least 5 QA pairs each, resulting into a final dataset of 7,526 QA pairs. A quality assurance set of 12.5% of the annotated texts confirmed that the QA pairs were all correctly annotated. A proof of concept on applying the set to the QA task confirmed that the dataset can be usable for such tasks. KenSwQuAD has also contributed to resourcing of the Swahili language.
PREME: Preference-based Meeting Exploration through an Interactive Questionnaire
Venue: arXiv cs.CL 2023
Year: 2023

The recent increase in the volume of online meetings necessitates automated tools for managing and organizing the material, especially when an attendee has missed the discussion and needs assistance in quickly exploring it. In this work, we propose a novel end-to-end framework for generating interactive questionnaires for preference-based meeting exploration. As a result, users are supplied with a list of suggested questions reflecting their preferences. Since the task is new, we introduce an automatic evaluation strategy. Namely, it measures how much the generated questions via questionnaire are answerable to ensure factual correctness and covers the source meeting for the depth of possible exploration.
Optimal Propagation for Graph Neural Networks
Venue: arXiv cs.LG 2023
Year: 2023

Graph Neural Networks (GNNs) have achieved tremendous success in a variety of real-world applications by relying on the fixed graph data as input. However, the initial input graph might not be optimal in terms of specific downstream tasks, because of information scarcity, noise, adversarial attacks, or discrepancies between the distribution in graph topology, features, and groundtruth labels. In this paper, we propose a bi-level optimization approach for learning the optimal graph structure via directly learning the Personalized PageRank propagation matrix as well as the downstream semi-supervised node classification simultaneously. We also explore a low-rank approximation model for further reducing the time complexity. Empirical evaluations show the superior efficacy and robustness of the proposed model over all baseline methods.
Defying Gravity: The Complexity of the Hanano Puzzle
Venue: arXiv cs.CC 2023
Year: 2023

Using the notion of visibility representations, our paper establishes a new property of instances of the Nondeterministic Constraint Logic (NCL) problem (a PSPACE-complete problem that is very convenient to prove the PSPACE-hardness of reversible games with pushing blocks). Direct use of this property introduces an explosion in the number of gadgets needed to show PSPACE-hardness, but we show how to bring that number from 32 down to only three in general, and down to two in a specific case! We propose it as a step towards a broader and more general framework for studying games with irreversible gravity, and use this connection to guide an indirect polynomial-time many-one reduction from the NCL problem to the Hanano Puzzle -- which is NP-hard -- to prove it is in fact PSPACE-complete.
Automated Algorithm Selection for Radar Network Configuration
Venue: arXiv cs.NE 2023
Year: 2023

The configuration of radar networks is a complex problem that is often performed manually by experts with the help of a simulator. Different numbers and types of radars as well as different locations that the radars shall cover give rise to different instances of the radar configuration problem. The exact modeling of these instances is complex, as the quality of the configurations depends on a large number of parameters, on internal radar processing, and on the terrains on which the radars need to be placed. Classic optimization algorithms can therefore not be applied to this problem, and we rely on "trial-and-error" black-box approaches. In this paper, we study the performances of 13 black-box optimization algorithms on 153 radar network configuration problem instances. The algorithms perform considerably better than human experts. Their ranking, however, depends on the budget of configurations that can be evaluated and on the elevation profile of the location. We therefore also investigate automated algorithm selection approaches. Our results demonstrate that a pipeline that extracts instance features from the elevation of the terrain performs on par with the classical, far more expensive approach that extracts features from the objective function.
Category-Independent Articulated Object Tracking with Factor Graphs
Venue: arXiv cs.RO 2023
Year: 2023

Robots deployed in human-centric environments may need to manipulate a diverse range of articulated objects, such as doors, dishwashers, and cabinets. Articulated objects often come with unexpected articulation mechanisms that are inconsistent with categorical priors: for example, a drawer might rotate about a hinge joint instead of sliding open. We propose a category-independent framework for predicting the articulation models of unknown objects from sequences of RGB-D images. The prediction is performed by a two-step process: first, a visual perception module tracks object part poses from raw images, and second, a factor graph takes these poses and infers the articulation model including the current configuration between the parts as a 6D twist. We also propose a manipulation-oriented metric to evaluate predicted joint twists in terms of how well a compliant robot controller would be able to manipulate the articulated object given the predicted twist. We demonstrate that our visual perception and factor graph modules outperform baselines on simulated data and show the applicability of our factor graph on real world data.
DPMS: An ADD-Based Symbolic Approach for Generalized MaxSAT Solving
Venue: arXiv cs.AI 2023
Year: 2023

Boolean MaxSAT, as well as generalized formulations such as Min-MaxSAT and Max-hybrid-SAT, are fundamental optimization problems in Boolean reasoning. Existing methods for MaxSAT have been successful in solving benchmarks in CNF format. They lack, however, the ability to handle 1) (non-CNF) hybrid constraints, such as XORs and 2) generalized MaxSAT problems natively. To address this issue, we propose a novel dynamic-programming approach for solving generalized MaxSAT problems with hybrid constraints -- called \emph{Dynamic-Programming-MaxSAT} or DPMS for short -- based on Algebraic Decision Diagrams (ADDs). With the power of ADDs and the (graded) project-join-tree builder, our versatile framework admits many generalizations of CNF-MaxSAT, such as MaxSAT, Min-MaxSAT, and MinSAT with hybrid constraints. Moreover, DPMS scales provably well on instances with low width. Empirical results indicate that DPMS is able to solve certain problems quickly, where other algorithms based on various techniques all fail. Hence, DPMS is a promising framework and opens a new line of research that invites more investigation in the future.
Blockchain Application on the Internet of Vehicles (IoV)
Venue: arXiv cs.NI 2023
Year: 2023

With the rapid development of the Internet of Things (IoT) and its potential integration with the traditional Vehicular Ad-Hoc Networks (VANETs), we have witnessed the emergence of the Internet of Vehicles (IoV), which promises to seamlessly integrate into smart transportation systems. However, the key characteristics of IoV, such as high-speed mobility and frequent disconnections make it difficult to manage its security and privacy. The Blockchain, as a distributed tamper-resistant ledge, has been proposed as an innovative solution that guarantees privacy-preserving yet secure schemes. In this paper, we review recent literature on the application of blockchain to IoV, in particular, and intelligent transportation systems in general.
Higher-Order Interactions and Their Duals Reveal Synergy and Logical Dependence beyond Shannon-Information
Venue: arXiv cs.IT 2023
Year: 2023

Information-theoretic quantities reveal dependencies among variables in the structure of joint, marginal, and conditional entropies, but leave some fundamentally different systems indistinguishable. Furthermore, there is no consensus on how to construct and interpret a higher-order generalisation of mutual information (MI). In this manuscript, we show that a recently proposed model-free definition of higher-order interactions amongst binary variables (MFIs), like mutual information, is a Möbius inversion on a Boolean algebra, but of surprisal instead of entropy. This gives an information-theoretic interpretation to the MFIs, and by extension to Ising interactions. We study the dual objects to MI and MFIs on the order-reversed lattice, and find that dual MI is related to the previously studied differential mutual information, while dual interactions (outeractions) are interactions with respect to a different background state. Unlike mutual information, in- and outeractions uniquely identify all six 2-input logic gates, the dy- and triadic distributions, and different causal dynamics that are identical in terms of their Shannon-information content.